Guidance Control of a Mobile Robot Using a Force Reflective Joystick

Guidance Control of a Mobile Robot Using a Force Reflective Joystick

  In this paper, a real-time guidance control method for a mobile robot is discussed. The method enables the operator to control the mobile robot without collisions. We propose a real-time environment modeling algorithm for obtaining obstacle information around the robot with ultrasonic sensors. We focus on the limitations of ultrasonic sensors, including noise sensitivity, poor directionality, and specular reflections, to obtain more accurate obstacle data. We also suggest a control algorithm for obstacle avoidance with obstacle information obtained from a sensor module. Wall and center following are implemented by a fuzzy logic controller. It is assumed that the operator can independently control the forward and angular velocities of the robot. The robot control algorithm produces reference inputs for the forward and angular velocities of the robot, and applies them into a force reflective joystick as reflective forces. Simulations are carried out to verify the performance of the proposed method.